Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
基本信息
- 批准号:RGPIN-2016-04272
- 负责人:
- 金额:$ 3.35万
- 依托单位:
- 依托单位国家:加拿大
- 项目类别:Discovery Grants Program - Individual
- 财政年份:2017
- 资助国家:加拿大
- 起止时间:2017-01-01 至 2018-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Robots nowadays are expected to perform more and more tasks in so called unstructured environments, including typically human and space environments. New research challenges emerge as robots interact, assist, serve, and explore with humans. Versatile robot manipulators with multiple working modes play substantial roles in tackling these new challenges. The long term objective of the proposed research program is to develop versatile robotic systems for efficient and safe robotic manipulations in unstructured human and space environments, featuring innovative design and control techniques of robot manipulators that can mimic and extend certain human arm capabilities with multiple working modes. In line with this long term objective, and building upon our recent research achievements, the proposed research program will generalize a recently proposed multiple working mode robot control approach and extend its applications on robotic tasks that involve unstructured environments and call for innovative design and control techniques. More specifically, the short-term objectives are planned as follows: 1) develop an innovative robot control framework by generalizing our recently proposed multiple working mode robot control approach for solving problems caused by modelling inaccuracies associated with unstructured environments; 2) further develop a spring-assisted robotic arm and control system for dexterous and safe manipulations with multiple working modes; 3) synthesize a control scheme that allows a space manipulator with multiple working modes to dampen the tumbling motion of an unknown target such as a tumbling satellite or space debris while identifying the target’s unknown inertial parameters without exceeding limits on the interaction forces at the grasping point; 4) investigate and experimentally validate control of robot manipulators based on joint torque estimation using link and actuator side position sensors; and 5) develop software system architecture and programs for robot manipulators operating with multiple working modes and conduct experimental investigation and validation of proposed control methods.
如今,机器人被期望在所谓的非结构化环境中执行越来越多的任务,通常包括人类和空间环境。随着机器人与人类互动、协助、服务和探索,新的研究挑战出现了。具有多种工作模式的多功能机器人操作器在应对这些新挑战方面发挥着重要作用。拟议研究计划的长期目标是开发多功能机器人系统,用于在非结构化的人类和空间环境中进行高效和安全的机器人操作,采用机器人操作器的创新设计和控制技术,可以模拟和扩展具有多种工作模式的某些人类手臂的能力。根据这一长期目标,并在我们最新研究成果的基础上,拟议的研究计划将推广最近提出的多工作模式机器人控制方法,并将其应用于涉及非结构化环境的机器人任务,需要创新的设计和控制技术。更具体地说,短期目标是:1)通过推广我们最近提出的多工作模式机器人控制方法,开发一种创新的机器人控制框架,以解决由于非结构化环境中的建模不准确而引起的问题;2)进一步开发弹簧辅助机械臂和控制系统,以实现灵活、安全的多工作模式操作;3)综合一种控制方案,允许具有多种工作模式的空间机械手在识别目标的未知惯性参数的同时,不超过抓取点的相互作用力的限制;4)研究和实验验证了基于关节力矩估计的机械手关节力矩控制,并利用连杆和执行机构侧位置传感器进行了控制;5)开发了适用于多种工作模式的机器人软件系统结构和程序,并对所提出的控制方法进行了实验研究和验证。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
数据更新时间:{{ journalArticles.updateTime }}
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Liu, Guang其他文献
Positive regulation of hepatic miR-122 expression by HNF4 alpha
HNF4 α 对肝脏 miR-122 表达的正向调节
- DOI:
- 发表时间:
2011 - 期刊:
- 影响因子:25.7
- 作者:
Guo, Zhi-Chen;Hao, De-Long;Liu, Guang;Feng, Lei;Chen, Hou-Zao;Chen, Feng;Lv, Xiang;Liu, De-Pei;Liang, Chih-Chuan - 通讯作者:
Liang, Chih-Chuan
Deep sequencing reveals the viral adaptation process of environment-derived H10N8 in mice
- DOI:
10.1016/j.meegid.2015.10.016 - 发表时间:
2016-01-01 - 期刊:
- 影响因子:3.2
- 作者:
Mei, Kun;Liu, Guang;Chen, Quanjiao - 通讯作者:
Chen, Quanjiao
端粒酶活性和hTERT基因表达的检测可以作为卵巢癌治疗中的监控肿瘤标记物
- DOI:
- 发表时间:
- 期刊:
- 影响因子:0
- 作者:
Lichtenegger, Werner;Wang, Jiang-Liu;Koensgen, Dorninique;Sun, Peng-Ming;Mustea, Alex;er;Liu, Guang;Sehouli, Jaild;Wei, Li-Hui;Luo, Mei-Yu - 通讯作者:
Luo, Mei-Yu
Generation of Frizzled10-Cre transgenic mouse line: a useful tool for the study of dorsal telencephalic development.
- DOI:
10.1002/dvg.20427 - 发表时间:
2008-10 - 期刊:
- 影响因子:1.5
- 作者:
Gu, Xiaochun;He, Dongyang;Li, Yiping;Hu, Chuanyin;Wei, Yu-sheng;Liu, Guang;Liu, Depei;Pleasure, Samuel J.;Xie, Wei;Zhao, Chunjie - 通讯作者:
Zhao, Chunjie
Identification of core cuprotosis-correlated biomarkers in abdominal aortic aneurysm immune microenvironment based on bioinformatics.
- DOI:
10.3389/fimmu.2023.1138126 - 发表时间:
2023 - 期刊:
- 影响因子:7.3
- 作者:
Hu, Jiateng;Xue, Song;Xu, Zhijue;Wu, Zhaoyu;Xu, Xintong;Wang, Xin;Liu, Guang;Lu, Xinwu;Li, Bo;Liu, Xiaobing - 通讯作者:
Liu, Xiaobing
Liu, Guang的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Liu, Guang', 18)}}的其他基金
Develop Intelligent Robot Systems for Efficient and Safe Robotic Manipulations in Unstructured Human and Space Environments
开发智能机器人系统,在非结构化人类和空间环境中进行高效、安全的机器人操作
- 批准号:
RGPIN-2022-03807 - 财政年份:2022
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2021
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2019
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Design, modeling, control and simulations of pipe robot for waterline inspection
用于水线检查的管道机器人的设计、建模、控制和仿真
- 批准号:
530549-2018 - 财政年份:2019
- 资助金额:
$ 3.35万 - 项目类别:
Collaborative Research and Development Grants
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2018
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2016
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Development of enabling techniques for mobile manipulators to operate safely and reliably in unstructured human and space environments
开发使移动机械手能够在非结构化的人类和空间环境中安全可靠地运行的技术
- 批准号:
227633-2011 - 财政年份:2015
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Modeling and control of aerial robot manipulator with hardware in the loop simulations
空中机器人机械臂硬件在环仿真建模与控制
- 批准号:
476552-2014 - 财政年份:2014
- 资助金额:
$ 3.35万 - 项目类别:
Engage Grants Program
Development of enabling techniques for mobile manipulators to operate safely and reliably in unstructured human and space environments
开发使移动机械手能够在非结构化的人类和空间环境中安全可靠地运行的技术
- 批准号:
227633-2011 - 财政年份:2014
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Hydraulic random vibration testing system modeling and signal generation
液压随机振动测试系统建模和信号生成
- 批准号:
460745-2013 - 财政年份:2013
- 资助金额:
$ 3.35万 - 项目类别:
Engage Grants Program
相似国自然基金
Cortical control of internal state in the insular cortex-claustrum region
- 批准号:
- 批准年份:2020
- 资助金额:25 万元
- 项目类别:
相似海外基金
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2021
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2020
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2019
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2018
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, Control, and Experimental Validation of Robotic Systems with Multiple Working Modes
多种工作模式的机器人系统的综合、控制和实验验证
- 批准号:
RGPIN-2016-04272 - 财政年份:2016
- 资助金额:
$ 3.35万 - 项目类别:
Discovery Grants Program - Individual
Synthesis, control and experimental validation of a robotic helping hand for manufacturing applications
用于制造应用的机器人助手的合成、控制和实验验证
- 批准号:
430241-2012 - 财政年份:2014
- 资助金额:
$ 3.35万 - 项目类别:
Collaborative Research and Development Grants
Synthesis, control and experimental validation of a robotic helping hand for manufacturing applications
用于制造应用的机器人助手的合成、控制和实验验证
- 批准号:
430241-2012 - 财政年份:2013
- 资助金额:
$ 3.35万 - 项目类别:
Collaborative Research and Development Grants
Synthesis, control and experimental validation of a robotic helping hand for manufacturing applications
用于制造应用的机器人助手的合成、控制和实验验证
- 批准号:
430241-2012 - 财政年份:2012
- 资助金额:
$ 3.35万 - 项目类别:
Collaborative Research and Development Grants
A concerted approach for a better understanding and control of the polymorphism of benzamide molecular crystals - synthesis as well as experimental and theoretical characterisation
更好地理解和控制苯甲酰胺分子晶体多态性的协调方法 - 合成以及实验和理论表征
- 批准号:
140553152 - 财政年份:2009
- 资助金额:
$ 3.35万 - 项目类别:
Priority Programmes
Robust control system synthesis for constrained systems and its experimental validation
约束系统鲁棒控制系统综合及其实验验证
- 批准号:
20860064 - 财政年份:2008
- 资助金额:
$ 3.35万 - 项目类别:
Grant-in-Aid for Young Scientists (Start-up)